tutorial-draw-frame.cpp

#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpHomogeneousMatrix.h>
 
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
  vpImage<unsigned char> I(2160, 3840, 128);
 
  try {
 
#if defined(VISP_HAVE_X11)
    vpDisplayX d(I, vpDisplay::SCALE_AUTO);
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I, vpDisplay::SCALE_AUTO);
#endif
 
    vpDisplay::setTitle(I, "My image");
    vpDisplay::display(I);
 
    double dTheta = 45;
    double dOffset = 0.25;
    std::string axisName[3] = { "x", "y", "z" };
    double px = 600; double py = 600;
    double u0 = 320; double v0 = 240;
 
    // Create a camera parameter container
    vpCameraParameters cam;
 
    // Camera initialization with a perspective projection without distortion model
    cam.initPersProjWithoutDistortion(px, py, u0, v0);
 
    for (unsigned int idAxis = 0; idAxis < 3; idAxis++) {
      unsigned int tOffset = 0;
      for (double theta = -180; theta < 180; theta += dTheta) {
        vpTranslationVector t(0.05, 0.25 * (idAxis + 1), 0.37);
        vpRxyzVector r(0, 0, 0);
        t[0] = t[0] + tOffset * dOffset;
        tOffset++;
        r[idAxis] = vpMath::rad(theta);
        vpHomogeneousMatrix cMo;
        cMo.buildFrom(t, vpRotationMatrix(r));
        std::stringstream ss_name;
        ss_name << "cMo_";
        ss_name << static_cast<int>(theta);
        ss_name << "_";
        ss_name << axisName[idAxis];
 
        vpDisplay::displayFrame(I, cMo, cam, 0.1, vpColor::none, 1, vpImagePoint(), ss_name.str(), vpColor::yellow, vpImagePoint(40, 40));
      }
    }
 
    vpDisplay::flush(I);
    std::cout << "A click to quit..." << std::endl;
    vpDisplay::getClick(I);
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e.getMessage() << std::endl;
  }
}